AccelerationScene.hpp

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#ifndef ACCELERATIONSCENE_HPP
#define ACCELERATIONSCENE_HPP
 
#include "../../core/Scene.hpp"
 
namespace wbc{
 
 
class AccelerationScene : public Scene{
protected:
    static SceneRegistry<AccelerationScene> reg;
 
    base::VectorXd robot_acc;
 
    virtual TaskPtr createTask(const TaskConfig &config);
 
    base::Time stamp;
 
public:
    AccelerationScene(RobotModelPtr robot_model, QPSolverPtr solver, const double dt);
    virtual ~AccelerationScene(){}
 
    virtual const HierarchicalQP& update();
 
    virtual const base::commands::Joints& solve(const HierarchicalQP& hqp);
 
    virtual const TasksStatus &updateTasksStatus();
};
 
} // namespace wbc
 
#endif